Automated multiaxis guidance device for automating therapeutic modalities

Abstract

A multiaxis guidance device which is automated and programmable safely taking the place of a doctor or therapist in operating a variety of normally handheld therapeutic modalities. The device includes a base comprising either a portable base or a wall mounted swing arm. A vertical mast which automatically raises when shut off for more compact storage or to accomodate an operator exiting the device and automatically lowers for appropriate modality operating height when turned on. A horizontal boom mounted to the mast providing reciprocal longitudinal axial travel of the modalities. An arm mounted perpendicular to the boom comprising a unique double four bar mechanism and receptacle for attaching a variety of modalities which automatically compensates for varying body contours by raising and lowering vertically while simultaneously tipping and rotating around the transverse axis. An onboard computer comprising various sensors and a handheld controller which determine starting mast height for best modality to body contact and can be preprogrammed or reprogrammed at any time for speed of modality travel and a multitude of longitudinal travel parameters.

What is claimed is:  
     
         1 . An automated multi-axis guidance device, said device comprising an onboard programmable computer means, a power source, interchangeable support means, a mast assembly mounted vertically to said interchangeable support means, a boom assembly mounted horizontally at one end to said mast assembly, said boom assembly including a movable arm carrier, an arm assembly mounted at it proximal end to said movable arm carrier and perpendicular to said boom assembly, with said arm assembly including a receptacle means for attaching a modality adaptor means mounted at the distal end of said arm assembly, whereby taking the place of a doctor or therapist applying a plurity of previously manually operated therapeutic modalities and providing significant versatility.  
     
     
         2 . The device set forth in  claim 1  wherein one said interchangeable support means is a portable base, said base comprising a horizontal platform of rigid material of predetermined size and shape to accommodate proper positioning of said device to a plurity of support surfaces, a mast support means mounted vertically on the top surface of said base to accommodate attachment of said mast assembly, a plurity of lockable casters mounted to the undersurface of said horizontal platform at spaced locations providing portability and stability of said device, a retractable stabilizing leg mounted to said horizontal platform extending the opposite direction of said arm assembly whereby preventing backward tipping of said device if said arm assembly were abruptly lifted.  
     
     
         3 . The device set forth in  claim 1 , wherein one said interchangeable support means is a wall mounted swing arm system, said system comprising a mast mounting base for attaching said mast assembly, a horizontal position locking means for aligning said device to a plurity of patient positions, a plurity of horizontally aligned swing arms attached together with a plurity of large bearings interconnecting said mast mounting base to a wall mounting plate.  
     
     
         4 . The device set forth in  claim 3  wherein said mast mounting base includes a vertical adjustment means, said adjustment means comprising a vertical rail sliding within a vertical track, a locking means setting the height of said vertical mast assembly whereby providing accommodation for greater variation in patient size and height of patient support surfaces.  
     
     
         5 . The device set forth in  claim 1  wherein said mast assembly comprises a means for vertical reciprocal axial movement of a mast, a mast guiding means providing smooth fluent vertical axial movement of said mast, mast counter weighting means comprising expansion springs whereby aiding the lift cycle of axial movement of said mast by off setting the combined weight of attached said boom assembly, said arm assembly and said modality.  
     
     
         6 . The device set forth in  claim 1  wherein said onboard programmable computer is a programmable controller circuit board, a DC power supply, AC relay, emergency shut off, a mast and arm position sensing means, a handheld controller means wired to said computer for turning said device on or off and setting a multitude of therapeutic parameters.  
     
     
         7 . The device set forth in  claim 1  and  6  further including a sensing means wired to said onboard programmable computer to determine appropriate position of said mast for optimal function, to set maximum upper and lower limits of vertical reciprocal axial movement of said mast, to set hard and soft limits of horizontal reciprocal axial movement of said arm assembly along said boom comprising a series of limit switches and encoder.  
     
     
         8 . The device set forth in  claim 6  wherein said handheld controller means comprises a speed control dial, stop/start button, pause button, reverse and forward limit buttons which allow the setting of a multitude of parameters within which a chosen modality will function and can be preprogrammed or reprogrammed at any time by the operator, or by an attending doctor or therapist.  
     
     
         9 . An automated multiaxis guidance device as set forth in  claim 1  said device comprising a modular design of interconnecting components, said components being an interchangeable support means, a mast assembly, onboard programmable computer a handheld controller for setting treatment parameters or programs, a boom assembly, arm assembly and wiring from said computer to said handheld controller, mast assembly, boom assembly and arm assembly which plugs into specific predetermined wiring ports whereby allowing for quick assembly or disassembly providing easier transport, maintenance and versatility.  
     
     
         10 . The device set forth in  claim 1  and  claim 6  wherein said Boom Assembly comprises a boom, a movable arm carrier, a means for horizontal reciprocal axial movement of said arm carrier along said boom, said limit switches located at the proximal and distal ends of said boom providing hard limits for axial travel of said arm carrier reversing direction of travel of said arm carrier when triggered, said encoder linked to said onboard computer tracking said arm carriers position during operation for setting a multitude of soft limits of travel of said arm carrier through programming of said onboard computer.  
     
     
         11 . A device as set forth in  claim 1  and  claim 10  wherein said boom assembly is a linear tracking means for said modality whereby said modality always tracks longitudinally straight along a persons body or part of a persons body whenever positioned for therapy.  
     
     
         12 . The device as set forth in  claim 1  wherein said arm assembly comprises a mechanical body contouring means a modality counter weighting means, arm leveling means, optional locking arm hinge allowing said arm assembly to be moved parallel to said boom for more compact storage or transport and locked perpendicular to said boom when in operation, an arm locking pin locking said arm assembly up in its highest position for safer storage or transport, said modality receptacle means providing quick attachment, changing, or rotation of said modality adaptors and respective chosen said modalities.  
     
     
         13 . A device as set forth in  claim 12  wherein a mechanical body contouring means comprises a unique double four bar mechanism with a proximal four bar mechanism mounted perpendicular to said boom operating in the vertical plane raising and lowering said modality while keeping said modality level for maximum body surface contact and a distal four bar mechanism mounted at it superior end perpendicular to said proximal four bar mechanism with the pivot point of said second four bar mechanism set below the axis of said proximal four bar mechanism operating in a rotating and tipping motion around the axis of said proximal four bar mechanism, a means for preventing over rotation or over tipping of said receptacle means providing smoother transition of said modalities along varying body contours while maintaining maximum surface contact between said modality and a body or part of a body whereby creating a unique body contouring action with out the need for complicated sensor or feedback systems.  
     
     
         14 . A device as set forth in  claim 12  wherein said modality counter-weighting means is an adjustable spring mechanism for varying lift, proportionate to variable weights of a plurity of said modalities.  
     
     
         15 . A device as set forth in  claim 12  wherein said arm leveling means is a limit switch wired to said programmable controller means to provide a signal to said mast drive motor to stop lowering said mast when said modality contacts a body or part of a body causing said arm to raise off said limit switch as said arm approximates a horizontal position stopping said mast drive motor whereby providing the most desirable neutral position of said arm assembly for optimal variation of upper or lower vertical travel and maximum modality to body surface contact.  
     
     
         16 . A device as set forth in  claim 13  wherein said body contouring means allows said modality to automatically and simultaneously move in a rotating, pivoting motion around the transverse axis of said proximal four bar mechanism as well as up and down in the vertical plane following all variations in body contours while said modality and said arm assembly travel longitudinally along said boom.  
     
     
         17 . A device as set forth in  claim 13  wherein said modality receptacle comprises a means of reducing binding forces between a plurity of said modalities and said body or a portion thereof aiding in body contouring whereby preventing said modalities from binding or jamming on items of clothing or on a body or portion thereof.  
     
     
         18 . A device as set forth in  claim 17  wherein said means of reducing binding forces comprises said receptacle attached inferiorly to the inferior aspect of said distal four bar mechanism creating a pivoting point of said modalities approximating the contact surface of said modality and said body or portion thereof.  
     
     
         19 . A device as set forth in  claim 1  wherein said modality adaptor means comprises an attachment means consistent with said receptacle, a weighting means, a conforming means to each predetermined modality, a motion dampening means to reduce the transfer of unwanted stresses or vibration from said modalities to said device a body or portion thereof whereby providing smoother quieter, more pleasant operation of said device.  
     
     
         20 . A device as set forth in  claim 19  wherein said weighting means may comprise variable weighted materials constructing said modality adaptors, or attachable weights to said modality adaptors.  
     
     
         21 . A device as set forth in  claim 1  wherein said power supply, comprises an incoming power conversion means, built in overload shut down means, a 12 volt power transformer, whereby said power source can accept either 110W-60 Hz or 220V-50 Hz incoming power supply, converting to 12 volt power output.  
     
     
         22 . A device as set forth in  claim 1  and  20  wherein said onboard programmable controller means and said drive motors operate on a  12  volt system for increased safety.